diff options
Diffstat (limited to 'klippy/extras/manual_stepper.py')
| -rw-r--r-- | klippy/extras/manual_stepper.py | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/klippy/extras/manual_stepper.py b/klippy/extras/manual_stepper.py index 6e02ee86..4c55deb8 100644 --- a/klippy/extras/manual_stepper.py +++ b/klippy/extras/manual_stepper.py @@ -22,6 +22,8 @@ class ManualStepper: self.velocity = config.getfloat('velocity', 5., above=0.) self.accel = self.homing_accel = config.getfloat('accel', 0., minval=0.) self.next_cmd_time = 0. + self.pos_min = config.getfloat('position_min', None) + self.pos_max = config.getfloat('position_max', None) # Setup iterative solver ffi_main, ffi_lib = chelper.get_ffi() self.trapq = ffi_main.gc(ffi_lib.trapq_alloc(), ffi_lib.trapq_free) @@ -107,10 +109,16 @@ class ManualStepper: homing_move = gcmd.get_int('STOP_ON_ENDSTOP', 0) if homing_move: movepos = gcmd.get_float('MOVE') + if ((self.pos_min is not None and movepos < self.pos_min) + or (self.pos_max is not None and movepos > self.pos_max)): + raise gcmd.error("Move out of range") self.do_homing_move(movepos, speed, accel, homing_move > 0, abs(homing_move) == 1) elif gcmd.get_float('MOVE', None) is not None: movepos = gcmd.get_float('MOVE') + if ((self.pos_min is not None and movepos < self.pos_min) + or (self.pos_max is not None and movepos > self.pos_max)): + raise gcmd.error("Move out of range") sync = gcmd.get_int('SYNC', 1) self.do_move(movepos, speed, accel, sync) elif gcmd.get_int('SYNC', 0): @@ -155,10 +163,12 @@ class ManualStepper: 1., 0., 0., start_v, cruise_v, accel) def check_move(self, move, ea_index): - # XXX - support out of bounds checks + movepos = move.end_pos[ea_index] + if ((self.pos_min is not None and movepos < self.pos_min) + or (self.pos_max is not None and movepos > self.pos_max)): + raise move.move_error() # XXX - support max accel/velocity # XXX - support non-kinematic max accel/velocity - pass def calc_junction(self, prev_move, move, ea_index): diff_r = move.axes_r[ea_index] - prev_move.axes_r[ea_index] if diff_r: |